{"id":"https://openalex.org/W4402300027","doi":"https://doi.org/10.1109/lra.2024.3455854","title":"TICOP: Time-Critical Coordinated Planning for Fixed-Wing UAVs in Unknown Unstructured Environments","display_name":"TICOP: Time-Critical Coordinated Planning for Fixed-Wing UAVs in Unknown Unstructured Environments","publication_year":2024,"publication_date":"2024-09-06","ids":{"openalex":"https://openalex.org/W4402300027","doi":"https://doi.org/10.1109/lra.2024.3455854"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3455854","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3455854","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5107746869","display_name":"Tianqing Liu","orcid":"https://orcid.org/0009-0004-5271-6606"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tianqing Liu","raw_affiliation_strings":["College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China"],"raw_orcid":"https://orcid.org/0009-0004-5271-6606","affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115430452","display_name":"Xiaodong He","orcid":null},"institutions":[{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaodong He","raw_affiliation_strings":["School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-0457-5664","affiliations":[{"raw_affiliation_string":"School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, China","institution_ids":["https://openalex.org/I92403157"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107748052","display_name":"Yifeng Niu","orcid":"https://orcid.org/0009-0001-5847-2575"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yifeng Niu","raw_affiliation_strings":["College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China"],"raw_orcid":"https://orcid.org/0009-0001-5847-2575","affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100762686","display_name":"Jie Li","orcid":"https://orcid.org/0000-0003-4587-1339"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Li","raw_affiliation_strings":["College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091694797","display_name":"Zhongkui Li","orcid":"https://orcid.org/0000-0002-9361-4305"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhongkui Li","raw_affiliation_strings":["Department of Mechanics and Engineering, College of Engineering, Peking University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-9361-4305","affiliations":[{"raw_affiliation_string":"Department of Mechanics and Engineering, College of Engineering, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.3286,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.53204188,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":"9","issue":"11","first_page":"9629","last_page":"9636"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9965000152587891,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.992900013923645,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/fixed-wing","display_name":"Fixed wing","score":0.9181241393089294},{"id":"https://openalex.org/keywords/wing","display_name":"Wing","score":0.4976063072681427},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47394847869873047},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.3225080668926239},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.2807536721229553},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18545225262641907}],"concepts":[{"id":"https://openalex.org/C3018522811","wikidata":"https://www.wikidata.org/wiki/Q2875704","display_name":"Fixed wing","level":3,"score":0.9181241393089294},{"id":"https://openalex.org/C97257150","wikidata":"https://www.wikidata.org/wiki/Q161358","display_name":"Wing","level":2,"score":0.4976063072681427},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47394847869873047},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.3225080668926239},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.2807536721229553},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18545225262641907}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3455854","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3455854","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2007437149","display_name":null,"funder_award_id":"61876187","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5455908029","display_name":null,"funder_award_id":"U2241214","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1578294898","https://openalex.org/W1976930960","https://openalex.org/W1999590945","https://openalex.org/W2038137192","https://openalex.org/W2057799302","https://openalex.org/W2065297540","https://openalex.org/W2088532129","https://openalex.org/W2126484982","https://openalex.org/W2161685125","https://openalex.org/W2162991084","https://openalex.org/W2500968061","https://openalex.org/W2587415290","https://openalex.org/W2755238136","https://openalex.org/W2945338643","https://openalex.org/W2951156850","https://openalex.org/W3090216174","https://openalex.org/W3102121895","https://openalex.org/W3135798748","https://openalex.org/W4229007520","https://openalex.org/W4252017042","https://openalex.org/W4283656449","https://openalex.org/W4285102598","https://openalex.org/W4313531960","https://openalex.org/W4323644326","https://openalex.org/W4385834002","https://openalex.org/W4385975664","https://openalex.org/W4386820628","https://openalex.org/W4388496111","https://openalex.org/W4399834880"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2051353479","https://openalex.org/W2047663700","https://openalex.org/W2145266680","https://openalex.org/W2267127512","https://openalex.org/W2029869150","https://openalex.org/W3039066287","https://openalex.org/W1978478581","https://openalex.org/W1538637279"],"abstract_inverted_index":{"Safe":[0],"coordination":[1,51,63],"of":[2,15,129,153,157],"fixed-wing":[3,76,158],"UAVs":[4,32,77,97,159],"in":[5,62,80,160],"unstructured":[6,82],"environments":[7,83],"poses":[8],"challenges":[9],"due":[10],"to":[11,78,125],"the":[12,50,54,67,96,99,104,127,151],"intricate":[13],"coupling":[14],"UAV":[16],"cooperation,":[17],"obstacle":[18],"avoidance,":[19],"and":[20,48,60,141],"motion":[21],"constraints.":[22],"One":[23],"task":[24],"is":[25,90,113,123],"time-critical":[26,85,154],"coordination,":[27],"which":[28,41,89,119],"means":[29],"that":[30,74],"all":[31],"can":[33],"safely":[34],"reach":[35],"their":[36],"destinations":[37],"simultaneously.":[38],"Existing":[39],"methods,":[40],"rely":[42],"on":[43],"a":[44,71,108,120],"spatio-temporal":[45],"decoupling":[46],"framework":[47,73],"design":[49],"law":[52],"at":[53,98],"control":[55,105,147],"layer,":[56],"often":[57],"compromise":[58],"maneuverability":[59],"safety":[61],"scenarios.":[64],"To":[65],"address":[66],"challenges,":[68],"we":[69],"propose":[70],"planner-based":[72],"enables":[75],"navigate":[79],"unknown,":[81],"with":[84,92],"coordination.":[86],"This":[87],"framework,":[88,117],"proposed":[91,133],"theoretical":[93],"analysis,":[94],"coordinates":[95],"planning":[100,111,156],"layer":[101],"rather":[102],"than":[103],"layer.":[106],"Moreover,":[107],"differential-flatness-based":[109],"trajectory":[110],"method":[112,122],"presented":[114],"within":[115],"this":[116],"after":[118],"two-step":[121],"designed":[124],"undermine":[126],"problem":[128],"local":[130],"minima.":[131],"The":[132],"methods":[134],"are":[135],"validated":[136],"through":[137],"software-in-the-loop":[138],"(SITL)":[139],"simulations":[140],"semi-physical":[142],"experiments":[143],"utilizing":[144],"general":[145],"flight":[146],"units":[148],"(FCUs),":[149],"verifying":[150],"effectiveness":[152],"coordinated":[155],"challenging":[161],"environments.":[162]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}